Pipe Robot Traveling Mechanism for Flexibility and Adhesive Force
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Solution Overview
Problem
Conventional robot traveling devices designed for pipe robots face a trade-off between flexibility and adhesive force, as existing suspension systems cannot simultaneously optimize both factors.
Innovation Solution
A robot traveling device with a body part, a moving part that slidably moves in the longitudinal direction of the body part, and front and rear end traveling parts that are rotatably mounted and share loads through the moving part, allowing for simultaneous flexibility and adhesive force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If suspension is implemented in each idler individually, then flexibility is improved, but adhesive force deteriorates
Solution Approach 1:
The robot body is divided into multiple modular units (front end traveling part, rear end traveling part, and intermediate traveling parts), each with independent suspension capability through spring elements. This segmentation allows each module to adapt independently to terrain variations while maintaining overall system coherence and adhesive force through modular coupling.
Solution Approach 2:
The suspension system employs spring elements that dynamically adjust to terrain conditions, allowing the robot to maintain both flexibility and adhesive force. The spring-based suspension enables continuous adaptation to external ground states while preserving the necessary gripping force for pipe navigation.
2Force
If pneumatic component is used for suspension, then adhesive force is improved, but device complexity and loss of substance worsen
Solution Approach 1:
The patent replaces complex pneumatic suspension systems with a simpler mechanical spring-based suspension system. This substitution eliminates the need for pneumatic lines and complex control mechanisms while achieving the desired adhesive force and flexibility through purely mechanical means.
Solution Approach 2:
The patent eliminates pneumatic components entirely in favor of spring-based mechanical suspension, avoiding the complexity of pneumatic lines and the loss of substance associated with gas-filled systems. The spring mechanism provides the necessary suspension function without requiring pneumatic infrastructure.
3Force
If pneumatic component is used for suspension, then adhesive force is improved, but loss of substance worsens
Solution Approach 1:
The patent replaces pneumatic suspension with mechanical spring suspension, eliminating the loss of substance (gas leakage) inherent in pneumatic systems. The spring-based system is closed and maintenance-free regarding substance loss.
4Ease of manufacture
If conventional suspension design is used, then ease of manufacture is improved, but the ability to simultaneously satisfy flexibility and adhesive force worsens
Solution Approach 1:
The robot is designed as a modular segmented structure where each traveling part contains its own spring-based suspension. This segmentation maintains manufacturing simplicity while enabling each module to independently optimize for both flexibility and adhesive force requirements.
Solution Approach 2:
The spring constant of the suspension elements can be adjusted to optimize the balance between flexibility and adhesive force. By changing the suspension parameter (spring constant), the system can be tuned to satisfy both requirements simultaneously without complex manufacturing.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device achieves smooth passage over obstacles and high traction on curved surfaces by automatically distributing loads between the front and rear end traveling parts, thereby enhancing both flexibility and adhesive force.
Implementation Method 1
a moving part that slidably moves in a longitudinal direction of the body part
Implementation Method 2
a front end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction, and a rear end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction
Data Source
AI summary
The present disclosure relates to a robot traveling device including a body part, a moving part that slidably moves in a longitudinal direction of the body part, a front end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction, and a rear end traveling part that is rotatably mounted on the body part and the moving part and is rotatable by contact friction.